La recerca s'articula en dues línies amb els objectius que es detallen a continuació.

Percepció i Manipulació:
1. Enllaçar percepció i acció utilitzant mètodes geomètrics i estadístics per al modelatge de l'entorn i del propi robot, per a la planificació de tasques i moviments, i per a l'aprenentatge.
2. Aprofundir en l'aprenentatge per reforçament i en l'aprenentatge per demostració, en particular el "mestratge", com a base per a la interacció entre robots, humans i l'entorn.

Cinemàtica i Disseny de Robots:
3. Trobar mètodes generals i complets per a l'anàlisi i la planificació de moviments lliures de col·lisió de mecanismes.
4. Desenvolupar noves estructures mecàniques, preferentment robots paral·lels i robots basats en estructures "tensegrity".
5. Incrementar i millorar l'expertesa del grup en l'àrea del disseny mecànic


La investigación se articula en dos líneas con los objectivos que se detallan a continuación.

Percepción y Manipulación:
1. Enlazar percepción y acción utilitzando métodos geométricos y estadísticos para el modelado del entorno y del propio robot, para la planificación de tareas y movimientos, y para el aprendizaje.
2. Profundizar en el aprendizaje por refuerzo y en el aprendizaje por demostración, en particular el entrenamiento, como base para la interacción entre robots, humanos y el entorno.

Cinemática y Diseño de Robots:
3. Encontrar métodos generales y completos para análisis y planificación de movimientos libres de colisión.
4. Desarrollar nuevas estructuras mecánicas, preferentmente robots paralelos y robots "tensegrity".
5. Incrementar y mejorar la competencia del grupo en el área del diseño mecánico.


Research is organized in two lines with the following goals.

Perception and Manipulation:
1. Linking perception and action using geometric and statistic methods for modelling the environment and the robot, for task and motion planning, and for learning.
2. Deepening on reinforcement learning and in learning by demonstration, in particular "coaching", as a basis for the interaction of robots, humans and the environtment.

Kinematics and Robot Design:
3. Finding general and complete methods for the analysis of mechanisms and for planning collision-free motions.
4. Developing new mechanical structures, especially parallel robots and robots based on tensegrity structures.
5. Increasing and enhancing the expertise of the group in the area of mechanical design.


Research is organized in two lines with the following goals.

Perception and Manipulation:
1. Linking perception and action using geometric and statistic methods for modelling the environment and the robot, for task and motion planning, and for learning.
2. Deepening on reinforcement learning and in learning by demonstration, in particular "coaching", as a basis for the interaction of robots, humans and the environtment.

Kinematics and Robot Design:
3. Finding general and complete methods for the analysis of mechanisms and for planning collision-free motions.
4. Developing new mechanical structures, especially parallel robots and robots based on tensegrity structures.
5. Increasing and enhancing the expertise of the group in the area of mechanical design.

Recent Submissions

  • Adapting robot task planning to user preferences: an assistive shoe dressing example 

    Canal Camprodon, Gerard; Alenyà Ribas, Guillem; Torras, Carme (2019-08-01)
    Article
    Open Access
    Healthcare robots will be the next big advance in humans’ domestic welfare, with robots able to assist elderly people and users with disabilities. However, each user has his/her own preferences, needs and abilities. ...
  • Resource-based modality selection in robot-assisted cognitive training 

    Taranovic, Aleksandar; Jevtic, Aleksandar; Hernández Farigola, Joan; Tantinyà, Natalia; Abdelnour, Carla; Torras, Carme (2018)
    Conference report
    Open Access
    The majority of socially assistive robots interact with their users using multiple modalities. Multimodality is an important feature that can enable them to adapt to the user behavior and the environment. In this work, we ...
  • Visual semantic re-ranker for text spotting 

    Sabir, Ahmed; Moreno-Noguer, Francesc; Padró, Lluís (2018)
    Conference report
    Open Access
    Many current state-of-the-art methods for text recognition are based on purely local information and ignore the semantic corre- lation between text and its surrounding visual context. In this paper, we propose a post-processing ...
  • Force-based representation for non-rigid shape and elastic model estimation 

    Agudo Martínez, Antonio; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2018-09-01)
    Article
    Open Access
    IEEE This paper addresses the problem of simultaneously recovering 3D shape, pose and the elastic model of a deformable object from only 2D point tracks in a monocular video. This is a severely under-constrained problem ...
  • Towards safety in physically assistive robots: eating assistance 

    Vila Abad, Maria; Canal Camprodon, Gerard; Alenyà Ribas, Guillem (2018)
    Conference report
    Open Access
    Safety is one of the base elements to build trust in robots. This paper studies remedies to unavoidable collisions using robotics assistive feeding as an example task. Firstly, we propose an attention mechanism so the user ...
  • Vehicle pose estimation using G-Net: multi-class localization and depth estimation 

    García López, Javier; Agudo Martínez, Antonio; Moreno-Noguer, Francesc (IOS Press, 2018)
    Conference report
    Open Access
    In this paper we present a new network architecture, called G-Net, for 3D pose estimation on RGB images which is trained in a weakly supervised manner. We introduce a two step pipeline based on region-based Convolutional ...
  • Geometry-aware network for non-rigid shape prediction from a single view 

    Pumarola Peris, Albert; Agudo Martínez, Antonio; Porzi, Lorenzo; Sanfeliu Cortés, Alberto; Lepetit, Vincent; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    We propose a method for predicting the 3D shape of a deformable surface from a single view. By contrast with previous approaches, we do not need a pre-registered template of the surface, and our method is robust to the ...
  • Unsupervised person image synthesis in arbitrary poses 

    Pumarola Peris, Albert; Agudo Martínez, Antonio; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    We present a novel approach for synthesizing photo-realistic images of people in arbitrary poses using generative adversarial learning. Given an input image of a person and a desired pose represented by a 2D skeleton, our ...
  • Hallucinating dense optical flow from sparse lidar for autonomous vehicles 

    Vaquero Gómez, Víctor; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    In this paper we propose a novel approach to estimate dense optical flow from sparse lidar data acquired on an autonomous vehicle. This is intended to be used as a drop-in replacement of any image-based optical flow system ...
  • 2D-to-3D facial expression transfer 

    Rotger Moll, Gemma; Lumbreras, Felipe; Moreno-Noguer, Francesc; Agudo Martínez, Antonio (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    Automatically changing the expression and physical features of a face from an input image is a topic that has been traditionally tackled in a 2D domain. In this paper, we bring this problem to 3D and propose a framework ...
  • Image collection pop-up: 3D reconstruction and clustering of rigid and non-rigid categories 

    Agudo Martínez, Antonio; Pijoan Comas, Melcior; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    This paper introduces an approach to simultaneously estimate 3D shape, camera pose, and object and type of deformation clustering, from partial 2D annotations in a multi-instance collection of images. Furthermore, we can ...
  • Adaptive modality selection algorithm in robot-assisted cognitive training 

    Taranovic, Aleksandar; Jevtic, Aleksandar; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    Interaction of socially assistive robots with users is based on social cues coming from different interaction modalities, such as speech or gestures. However, using all modalities at all times may be inefficient as it can ...

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